Behavior based autonomous navigation using passages as landmarks for path definition

• Authors: Lubnen Name Moussi;Marconi Kolm Madrid
• Venue: ACMOS'10 Proceedings of the 12th WSEAS international conference on Automatic control, modelling & simulation
• Year: 2010

This work presents a solution to a mobile robot autonomous navigation utilizing minimum representation of the environment. It is done under simulation of a differential wheels robot inside a 2D environment with a layout very close to a real situation for laboratories, offices and classrooms. The solution takes into consideration local and long run navigation and utilizes only behavior-based architecture. A first approach utilizes only reactive behaviors solving very well local navigation. It also gives a partial solution to long run navigation in a simple environment, with only two rooms, doing that without path definition. A complete solution for an environment with many rooms is developed adding to the previous approach more behaviors that will take care of path definition and control. A linear graph, having the passages as landmarks, structures the environment representation and is the basis for the algorithm of path definition that gives an efficient solution. The approach used does not show a central planner and controller as in traditional deliberative architectures; planning and control arises from the independent parallel functioning of all the behaviors.